Utility for sourcing ROS workspaces

ros_source_util.bash

export BASH_PRE_CD_HOOK=(
)
export BASH_POST_CD_HOOK=(
    '__auto_source_ros_ws'
    '__update_last_ros_ws'
)
# Automatically source ROS workspace you were last in
# Empty to disable
export ROS_UTIL_LAST_WS_FILE="$HOME/.cache/ros/last_ws.txt"
export ROS_UTIL_AUTO_ROS_WS="true"
export ROS_UTIL_VERBOSE="true"
export ROS_UTIL_CLEAR_CMAKE_PREFIX="true"
export CATKIN_SETUP_UTIL_ARGS="--extend"

__is_ros_ws() {
    local cwd="${1:-$PWD}"
    [[ -d $cwd/src ]] \
        && [[ -f $cwd/devel/.catkin ]] \
        && [[ -f $cwd/devel/setup.bash ]]
}

__auto_source_ros_ws() {
    if [[ -n $ROS_UTIL_AUTO_ROS_WS ]] && $ROS_UTIL_AUTO_ROS_WS && __is_ros_ws; then
        if [[ -n $ROS_UTIL_VERBOSE ]] && $ROS_UTIL_VERBOSE; then
            echo "Auto-sourcing workspace $( basename $PWD )"
        fi
        if [[ -n $ROS_UTIL_CLEAR_CMAKE_PREFIX ]] &&
                $ROS_UTIL_CLEAR_CMAKE_PREFIX; then
            sed -i -e "s!CMAKE_PREFIX_PATH = '[^']*'!CMAKE_PREFIX_PATH = '/opt/ros/$ROS_DISTRO'!" \
                devel/_setup_util.py
        fi
        unset CMAKE_PREFIX_PATH
        source devel/setup.bash
        source /opt/ros/$ROS_DISTRO/setup.bash
    fi
}

__update_last_ros_ws() {
    if [[ -z $ROS_UTIL_LAST_WS_FILE ]]; then
        return
    fi

    if ! [[ -d $( dirname $ROS_UTIL_LAST_WS_FILE ) ]]; then
        mkdir -p "$( dirname $ROS_UTIL_LAST_WS_FILE )"
    fi

    if __is_ros_ws; then
        echo $PWD > $ROS_UTIL_LAST_WS_FILE
    fi
}

source_last_ros_ws() {
    if [[ -f $ROS_UTIL_LAST_WS_FILE ]]; then
        if [[ -n $ROS_UTIL_VERBOSE ]] && $ROS_UTIL_VERBOSE; then
            echo "Sourcing last workspace: $( basename $( <$ROS_UTIL_LAST_WS_FILE ) )"
        fi
        builtin cd $( <$ROS_UTIL_LAST_WS_FILE ) && \
            unset CMAKE_PREFIX_PATH && \
            source devel/setup.bash && \
            source /opt/ros/$ROS_DISTRO/setup.bash && \
            builtin cd $OLDPWD
    fi
}

cd() {
    for cmd in "${BASH_PRE_CD_HOOK[@]}"; do
        eval "$cmd"
    done

    builtin cd $@

    for cmd in "${BASH_POST_CD_HOOK[@]}"; do
        eval "$cmd"
    done
}

source_last_ros_ws